• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.16-20
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• 1988

This paper presents a new algorithm for solving the inverse kinematics in real-time applications. The end-tip movement of each link can be resolved into the basic resolution unit, .DELTA.l, which depends on link length, reduction ratio and resolution of the incremental encoder attached to the joint. When x- and y-axis projection of the end-tip movement are expressed in .DELTA.l unit, projectional increments .DELTA.x and .DELTA.y become -1, 0 or I by truncation. By using the incremental computation with these ternary value and some simple logic rules, a coordinate transformation can be realized. Through this approach, it should be noted that the floating-point arithmetic and the manipulation of trigonometric functions are completely eliminated. This paper demonstrates the proposed method in a parallelogram linkage type, two-link arm.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1996.04a
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• pp.137-140
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• 1996

This study investigated the length-tension and velocity-force relations of the torso erectors. A myoelectric based approach was used wherein a dynamic biomechanical model incorporating active and passive tissue charactreistics provided music kinematic estimates during controlled sagittal plan extension motions. A double linear optimization formulation from the literatured provided muscle tension estimates. The data supported a linear length-tension relation toward full flexion for both the erector spinae and latissimus muscles. Velocity trends agreed with that predicted by Hill's exponential relation. The results have implications for muscle tension estimation in biomechanical torso modeling, and suggest a possible low back pain injury mechanism.

• Journal of Korean Physical Therapy Science
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• v.5 no.4
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• pp.751-761
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• 1998

The A.M.I(acute myocardiac Infarction) treated in Rehabilitation programs May be divided Into three general types, 1. mechanlcal derangement. 2. Increased resistance to blood flow. 3. decreased Energy production. in each case the heart Will be Limited in its ability to respond. to the demands of metabolic activites. cardiac rehabilitation programs following myocardiac infarction are of two general types:acute and delayed. There are fundamental differences in the philosophies, pathophilogical concepts, and psycosocial values in the two approach. both programs asplre to protect the patient through the period of Maximal risk and then safely restore him to a near normal home life and appropriate vocatlonal activity. Both programs assume that physical activity and emotional stress. increase the work of the heart and with it increase the likefood of venticular fibillation

• Coupled systems mechanics
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• v.10 no.6
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• pp.521-544
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• 2021

In this work, we present the development of a 3D lattice-type model at microscale based upon the Voronoi-cell representation of material microstructure. This model can capture the coupling between mechanic and electric fields with non-linear constitutive behavior for both. More precisely, for electric part we consider the ferroelectric constitutive behavior with the possibility of domain switching polarization, which can be handled in the same fashion as deformation theory of plasticity. For mechanics part, we introduce the constitutive model of plasticity with the Armstrong-Frederick kinematic hardening. This model is used to simulate a complete coupling of the chosen electric and mechanics behavior with a multiscale approach implemented within the same computational architecture.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.881-889
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• 2002

Mobility analysis for various mobile mechanisms including mechanisms with lack of geometric generality is performed. Joint screws are employed to find the sire of feasible joint motion space or each of independent loops of mobile mechanisms. Particularly, the concept of "representative screws" is introduced to represent the feasible motion spaces for subsets of joints belonging to either a loop or a sub-system consisting of several closed loops. Firstly. simplified joint model for each of low different typical wheels popularly employed in mobile robots is described. Then. mobility analysis fir various types of planar mobile robots and the Mars Rover mobile robot for navigation on the rocky road on Mars arc performed. It is confirmed that the obtained results in this study coincide with the previous ones which were obtained by suing imaginary Joints approach(1)pproach(1)

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.6
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• pp.52-60
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• 2005

Ultra-precision positioning systems basically require high natural frequency and sufficient workspace. To cope with this requirement, flexure hinge mechanisms have been developed. However, previous designs are difficult to satisfy the functional requirements of the system due to difficulty in modeling and optimization process applying fur the independent axiomatic design. Therefore, this paper suggests a new design and design procedure based on semi-coupled, axiomatic design. A spatial 3-DOF parallel type micro mechanism is chosen aa an exemplary device. Based on preliminary kinematic analysis and dynamic modeling of the system, an optimum design is conducted. To check the effectiveness of the optimal parameters obtained by theoretical approach, simulation has been performed by FEM.

• Proceedings of the ESK Conference
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• 1996.04a
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• pp.313-319
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• 1996

Human posture prediction and motion simulaiton methods try to solve inverse kinematic problems based on the optimization concept. It is of great concern to develop an optimization method which soloves complicated optimization models in an efficient way in order for the models to be biomechanically sound. In this study, a new optimization method for posture prediction, which is named the Complex Method, is presented. The Complex Method demonstrates more flexibility in a way that it can deal with various forms of objective functions with constraints. This is because the method is a function-value-based approach. A two-eimensional whole-body lifting task was selected as an example of posture prediction, and a comparison study with te incrementation method was conducted in order to evaluate the accuracy of the Complex Method.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.179-183
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• 2002

This paper presents a new approach to the calibration of a SCARA robot orientation with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. radial distortion causes an inward or outward displacement of a given Image point from its ideal location. Actual optical systems are subject to various degrees of decentering, that is, the optical centers of lens elements are not strictly collinear. Thin prism distortion arises from imperfection in lens design and manufacturing as well as camera assembly It is our purpose to develop the vision system for the pattern recognition and the automatic test of parts and to apply the line of manufacturing.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.65-69
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• 1997

This paper presents a new approach to the calibration of a SCARA robot orientation with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. Radial distortion causes an inward or outward displacement of a given image point from its ideal location. Actual optical systems are subject to various degrees of decentering, that is, the optical centers of lens elements are not strictly collinear. Thin prism distortion arises from imperfection in lens design and manufacturing as well as camera assembly. It is our purpose to develop the vision system for the pattern recognition and the automatic test of parts and to apply the line of manufacturing.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.10a
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• pp.117-121
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• 2001

This paper presents a new approach to the calibration of a SCARA robot orientation with a camera modeling that accounts for major sources of camera distortion, namely, radial, decentering, and thin prism distortion. Radial distortion causes an inward or outward displacement of a given image point from its ideal location. Actual optical systems are subject to various degrees of decentering, that is, the optical centers of lens elements are not strictly collinear. Thin prism distortion arises from imperfection in lens design and manufacturing as well as camera assembly. It is our purpose to develop the vision system for the pattern recognition and the automatic test of parts and to apply the line of manufacturing.